dc.contributor.advisor | Sezer, Erol | |
dc.contributor.author | Zeren, Murat | |
dc.date.accessioned | 2016-01-08T20:12:06Z | |
dc.date.available | 2016-01-08T20:12:06Z | |
dc.date.issued | 1994 | |
dc.identifier.uri | http://hdl.handle.net/11693/17637 | |
dc.description | Ankara : Department of Electrical and Electronics Engineering and the Institute of Engineering and Sciences of Bilkent University, 1994. | en_US |
dc.description | Thesis (Master's) -- -Bilkent University, 1994. | en_US |
dc.description | Includes bibliographical references leaves 36-38. | en_US |
dc.description.abstract | An adaptive self-tuning control scheme is developed in the independent
generalized coordinates for position control of multiple flexible manipulators.
First, a suitable model is derived for multiple cooperating manipulators holding
a common workpiece. Then flexibility is included in the model where each
flexible link is modelled by two rigid sublinks connected by a fictitious joint.
The relatively high stiffness of the flexible links is used to decompose the model
into two subsystems operating at different rates, and a two-time-scale control
is applied to achieve the desired position tracking. Finally adaptive estimation
of the manipulator parameters is proposed to achieve a control scheme which
is suitable for on-line applications. | en_US |
dc.description.statementofresponsibility | Zeren, Murat | en_US |
dc.format.extent | vii, 89 leaves | en_US |
dc.language.iso | English | en_US |
dc.rights | info:eu-repo/semantics/openAccess | en_US |
dc.subject | multiple flexible manipulators | en_US |
dc.subject | two-time-scale control | en_US |
dc.subject | adaptive
estimation | en_US |
dc.subject.lcc | TJ211.4 .Z47 1994 | en_US |
dc.subject.lcsh | Robots--Dynamics--Mathematical models. | en_US |
dc.subject.lcsh | Manipulators (Mechanism)--Mathematical models. | en_US |
dc.subject.lcsh | Manipulators (Mechanism)--Automatic control. | en_US |
dc.title | Adaptive two-time-scale position control of multiple flexible manipulators | en_US |
dc.type | Thesis | en_US |
dc.department | Department of Electrical and Electronics Engineering | en_US |
dc.publisher | Bilkent University | en_US |
dc.description.degree | M.S. | en_US |